Data type NCTOPLC_AXIS_REF
Code: Select all
TYPE NCTOPLC_AXIS_REF
STRUCT
StateDWord : NCTOPLC_AXIS_REF_STATE; (* Status double word *)
ErrorCode : DWORD; (* Axis error code *)
AxisState : DWORD; (* Axis moving status *)
AxisModeConfirmation : DWORD; (* Axis mode confirmation (feedback from NC) *)
HomingState : DWORD; (* State of axis calibration (homing) *)
CoupleState : DWORD; (* Axis coupling state *)
SvbEntries : DWORD; (* SVB entries/orders (SVB = Set preparation task) *)
SafEntries : DWORD; (* SAF entries/orders (SAF = Set execution task) *)
AxisId : DWORD; (* Axis ID *)
OpModeDWord : NCTPPLC_AXIS_REF_OPMODE; (* Current operation mode *)
ActPos : LREAL; (* Actual position (absolut value from NC) *)
ModuloActPos : LREAL; (* Actual modulo position *)
ActiveControlLoopIndex : WORD; (* Active control loop index *)
ControlLoopIndex : WORD; (* Axis control loop index (0, 1, 2, when multiple control loops are used) *)
ModuloActTurns : DINT; (* Actual modulo turns *)
ActVelo : LREAL; (* Actual velocity *)
PosDiff : LREAL; (* Position difference (lag distance) *)
SetPos : LREAL; (* Setpoint position *)
SetVelo : LREAL; (* Setpoint velocity *)
SetAcc : LREAL; (* Setpoint acceleration *)
TargetPos : LREAL; (* Estimated target position *)
ModuloSetPos : LREAL; (* Setpoint modulo position *)
ModuloSetTurns : DINT; (* Setpoint modulo turns *)
CmdNo : WORD; (* Continuous actual command number *)
CmdState : WORD; (* Command state *)
SetJerk : LREAL;
SetTorque : LREAL;
ActTorque : LREAL;
StateDWord2 : NCTOPLC_AXIS_REF_STATE2;
StateDWord3 : DWORD;
TouchProbeState : DWORD;
TouchProbeCounter : DWORD;
CamCouplingState : ARRAY [0..7] OF NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE;
CamCouplingTableID : ARRAY [0..7] OF UINT;
ActTorqueDerivative : LREAL;
SetTorqueDerivative : LREAL;
{attribute 'hide'}
_reserved1 : ARRAY [1..16] OF USINT;
ActPosWithoutPosCorrection : LREAL;
ActAcc : LREAL;
DcTimeStamp : UDINT;
{attribute 'hide'}
_reserved2 : ARRAY [1..12] OF USINT;
END_TYPE